mawei/sunnypilot
1
0
Fork 0
mirror of https://github.com/sunnypilot/sunnypilot.git synced 2026-07-20 18:52:06 +08:00
Code Issues Packages Projects Releases Wiki Activity

add comments and TODO

Browse Source
This commit is contained in:
Jason Wen
2024-07-26 11:35:59 -04:00
parent 546201438c
commit 39383f6d23
1 changed files with 4 additions and 1 deletions
Download Patch File Download Diff File Expand all files Collapse all files
selfdrive/car/hyundai/carcontroller.py
+4 -1
View File
@@ -211,8 +211,11 @@ class CarController(CarControllerBase):
return can_sends
# We currently use static jerk limits for all accel commands, the PCM is very sensitive to how accels are being
# sent from the SCC source of truth. Dynamic jerk upper/lower limits are required to make PCM accept controls
# more smoothly
def create_accel_value(self, CC, accel):
rate = 0.1
rate = 0.1 # TODO: Dynamic jerk upper/lower limits should change this for more accurate and smoother controls
if not CC.enabled:
self.accel_raw, self.accel_val = 0, 0
else: